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use PlanarRotation<> instead of handmade givens rotation in cminpack code

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+ cleaning.
This results in some more memory being used, but not much.
This commit is contained in:
Thomas Capricelli
2010-01-26 17:40:55 +01:00
parent c04a93df31
commit afb9bf6281
5 changed files with 78 additions and 147 deletions
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16
unsupported/Eigen/src/NonLinearOptimization/HybridNonLinearSolver.h
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@@ -218,6 +218,8 @@ HybridNonLinearSolver<FunctorType,Scalar>::solveOneStep(
)
{
int j;
std::vector<PlanarRotation<Scalar> > v_givens(n), w_givens(n);
jeval = true;
/* calculate the jacobian matrix. */
@@ -359,9 +361,9 @@ HybridNonLinearSolver<FunctorType,Scalar>::solveOneStep(
wa2 = (wa2-wa3)/pnorm;
/* compute the qr factorization of the updated jacobian. */
ei_r1updt<Scalar>(n, n, R, wa1.data(), wa2.data(), wa3.data(), &sing);
ei_r1mpyq<Scalar>(n, n, fjac.data(), wa2.data(), wa3.data());
ei_r1mpyq<Scalar>(1, n, qtf.data(), wa2.data(), wa3.data());
ei_r1updt<Scalar>(R, wa1.data(), v_givens, w_givens, wa2.data(), wa3.data(), &sing);
ei_r1mpyq<Scalar>(n, n, fjac.data(), v_givens, w_givens);
ei_r1mpyq<Scalar>(1, n, qtf.data(), v_givens, w_givens);
jeval = false;
}
@@ -465,6 +467,8 @@ HybridNonLinearSolver<FunctorType,Scalar>::solveNumericalDiffOneStep(
)
{
int j;
std::vector<PlanarRotation<Scalar> > v_givens(n), w_givens(n);
jeval = true;
if (parameters.nb_of_subdiagonals<0) parameters.nb_of_subdiagonals= n-1;
if (parameters.nb_of_superdiagonals<0) parameters.nb_of_superdiagonals= n-1;
@@ -608,9 +612,9 @@ HybridNonLinearSolver<FunctorType,Scalar>::solveNumericalDiffOneStep(
wa2 = (wa2-wa3)/pnorm;
/* compute the qr factorization of the updated jacobian. */
ei_r1updt<Scalar>(n, n, R, wa1.data(), wa2.data(), wa3.data(), &sing);
ei_r1mpyq<Scalar>(n, n, fjac.data(), wa2.data(), wa3.data());
ei_r1mpyq<Scalar>(1, n, qtf.data(), wa2.data(), wa3.data());
ei_r1updt<Scalar>(R, wa1.data(), v_givens, w_givens, wa2.data(), wa3.data(), &sing);
ei_r1mpyq<Scalar>(n, n, fjac.data(), v_givens, w_givens);
ei_r1mpyq<Scalar>(1, n, qtf.data(), v_givens, w_givens);
jeval = false;
}